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Table of Contents
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Supported Controllers

Excerpt

Status
titleR-30ib+

Notes

Info

IMPORTANT:
For Release 2.5 and beyond: TP Speed can be reduced till 10% (Default Speed of Fanuc Robot). Below 10% TP speed, rapidplan can throw errors. One can also vary the speeds on the RTR Move commands.
For Release upto 2.4 : Always keep Teach Pendant Speed at 100. Change the movement speed by varying speed in Rapidplan Move Commands

Required Options

Info

To use the Realtime Controller with your Fanuc controller, the following options must be installed:

  • R912 Remote Motion Interface (RMI)

Consult your Fanuc representative on help with purchasing and installing this option.

Physical Configuration

RTR uses Port 1 in the Fanuc controller. The following picture shows the connection in the R-30iB Mate controller

Network Configuration

Assign an IP to the robot that is in the same network as the RTR controller.

Settings Configuration

Update Min_ITP Settings:

  • This change is only to be done for Release 2.5 and beyond

  • Menu>System>Variables>$RMI_CFG
    Update $MIN_ITP_TIM = 3

For Release 2.5 and beyond, we do not need to update the brake and CPCFG settings described below:

[Outdated, Do Not update for 2.5] Brake control must be disabled:

  • In Menu>System>Variables, set all of $PARAM_GROUP[1].$SV_OFF_ENB[1-6] = FALSE, then cycle power.

Remote Motion Interface (RMI) Configuration

[Outdated, Do Not update for 2.5] Constant Path option must be disabled to use RMI:

  • Under Menu>System>Variables, set $CPCFG.CP_ENABLE = FALSE, then cycle power

Run Instructions

Running the Realtime Controller on a Fanuc controller with RMI only requires that the controller is powered on. Make sure that there are no running TP programs, and that the RMI_MOVE program is not selected.

Realtime Controller Configuration

In the control panel, the robot’s IP in the project has to be the same one that has been configured in the robot.